We HEAR God as He speaks to us through His written Word.
God's special revelation of Himself in His Word is an incredible picture of His grace. We could not know God if He did not take the initiative to reveal Himself. He has taken such initiative, and He has done so through His Word. David uses several words to refer to God's Word – law, testimony, precepts, commandment, fear, and rules. With each reference to God's Word, David lists an accompanying characteristic – perfect, sure, right, pure, clean, enduring, true, and righteous. Finally, David lists effects of God's Word. It revives, makes wise, brings rejoicing, enlightens.
It is important to remember that God's Word is His revelation of Himself to us. As such, we do not worship the Bible, but rather the One who gave it. The reason the Bible is perfect, sure, right, pure, clean, enduring, and righteous is because God is.